Modular robotic vehicle

ABSTRACT

A modular robotic vehicle (MRV) having a modular chassis configured for a vehicle utilizing two-wheel steering, four-wheel steering, six-wheel steering, eight-wheel steering controlled by a semiautonomous system or an autonomous driving system, either system is associated with operating modes which may include a two-wheel steering mode, an all-wheel steering mode, a traverse steering mode, a park mode, or an omni-directional mode utilized for steering sideways, driving diagonally or move crab like. Accordingly, during semiautonomous control a driver of the modular robotic vehicle may utilize smart I/O devices including a smartphone, tablet like devices, or a control panel to select a preferred driving mode. The driver may communicate navigation instructions via smart I/O devices to control steering, speed and placement of the MRV in respect to the operating mode. Accordingly, GPS and a wireless network provides navigation instructions during an autonomous operation involving driving, parking, docking or connecting to another MRV.

CROSS REFERENCED TO RELATED APPLICATIONS

A notice of issuance for a continuation in part in reference to patentapplication Ser. No. 15/331,820, filing date: Oct. 22, 2016, titled:“Self-Balancing Robot System Comprising Robotic Omniwheel”, and torelated applications: Ser. No. 12/655,569, filing date: Jan. 4, 2010 orU.S. Pat. No. 8,430,192 B2 titled: “Robotic Omniwheel Vehicle”; and toSer. No. 13/872,054, filing date: Apr. 26, 2013 or U.S. Pat. No.9,586,471 B2 titled: “Robotic Omniwheel”; and to Ser. No. 15/269,842,filing date: Sep. 19, 2016 or U.S. Pat. No. 9,902,253 B2 titled: “YokeModule System for Powering a Motorized Wheel”.

FIELD

The present disclosure relates to robotic vehicles utilizing a modularchassis especially capable of autonomous driving control provided byrobotic drive wheels.

BACKGROUND

Related art for compatibility the system design of the present inventionprovides a control platform, in addition to robotics, intelligentcontrol also involves control of the field of occupational and meet theneeds of autonomous multi-service robots for users, and for generalapplications. Autonomous controlled robots and robot vehicles arebecoming more prevalent today and are used to perform taskstraditionally considered to work in a controlled environment indoors oroutdoors. As the programming technology increases, so too does thedemand for robotic vehicles that can navigate around complexenvironments.

Robotic devices vehicles associated autonomous drive control systems,wireless navigational systems, bi-wire systems and other related systemsare being continuously developed for intelligent transportation totransport passengers and needed to improve logistics to transportpayloads, however vehicle's claiming to robotic vehicle use a drivetrainproviding differential drive, ideally what is essential for theadvancement of robotic vehicle technology is developing robotic vehiclescapable of traveling at zero-degrees and provide autonomous drive systemprogrammed for synchronizing some or all drive wheels to turnsimultaneously to steer a robotic vehicle in any direction, holonomicmeaning like how a crab moves.

SUMMARY

The present robotic vehicle offers a modular chassis configured with anarray of robotic drive wheels accommodating different vehicle body typescharacterized as: a self-balancing vehicle, a tricycle, a minicar, agolf cart, a bumper car, a ride-on toy, a sedan, a truck, an ATV, RVsand multiple types of delivery trucks and vans, as one skilled in theart other vehicle body types can be realized, each capable to driveabout like how a crab moves or holonomic-ally allowing the roboticvehicle to parallel park and perform unique driving stunts like couplingtogether. Respectively the present modular robotic vehicle comprises acontrol system utilizing various components for controlling steering,velocity and stability of the modular robotic vehicle such that avariety of operating modes are accomplish by means of two-four-six-eightrobotic drive wheel steering and braking. The present modular roboticvehicle offers of an array of right and left robotic drive wheelscapable of steering holonomic-ally in the following multiple fore andaft directions; for example; at 90-degrees driving sideways, at anapproximate 45-degrees or 270-degrees form steering laterally, andomni-directionally driving in complete circles and performing otherstunts.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A and FIG. 1B are side and front views of a robot MRV 100Acomprising modular chassis 200A connectively coupled with body 218A inaccordance with the present disclosure.

FIG. 2A is a front angular view of a modular chassis 200A with a coveredbody 218 in accordance with the present disclosure.

FIG. 2B is a see-through view of an assembled modular chassis 200A inaccordance with the present disclosure.

FIG. 2C is a see-through view of the frame assemblies of the modularchassis 200A in accordance with the present disclosure.

FIG. 3A is a front view of the robotic drive wheel 300 comprising ahanger arm 304A assembled with flange fasteners in accordance with thepresent disclosure.

FIG. 3B is a front view of the robotic drive wheel 300 comprising ahanger arm 304 assembled on tubing brackets in accordance with thepresent disclosure.

FIG. 3C illustrating drive wheel array 301 assemblies in accordance withthe present disclosure.

FIG. 4A and FIG. 4B are flowcharts of the modular robotic vehicleControl System 400 in accordance with the present disclosure.

FIG. 5 is an angular view of a wheelchair MRV 100B comprising modularchassis 200A connectively coupled with body 218B in accordance with thepresent disclosure.

FIG. 6 is an angular view of a tricycle MRV 100C configured with modularchassis 200B connectively coupled with body 218C in accordance with thepresent disclosure.

FIG. 7 is an angular view of a mini-car MRV 100D configured with modularchassis 200B connectively coupled with body 218D (with a hood) inaccordance with the present disclosure.

FIG. 8 is an angular view of gyro-car MRV 100E configured modularchassis 200B connectively coupled with body 218E in accordance with thepresent disclosure.

FIG. 9 is an angular view of a sedan MRV 100F configured with modularchassis 2000 connectively coupled with a body 218F in accordance withthe present disclosure.

FIG. 10 illustrates a minivan MRV 100G configured modular chassis 2000connectively coupled with body 218G in accordance with the presentdisclosure.

FIG. 11 illustrates a truck MRV 100H configured with modular chassis2000 connectively coupled with body 218H in accordance with the presentdisclosure.

FIG. 12 illustrates an ATV MRV 100I configured with modular chassis 2000connectively coupled with body 218I in accordance with the presentdisclosure.

FIG. 13 illustrates a delivery van MRV 100J configured modular chassis2100 connectively coupled with body 218J in accordance with the presentdisclosure.

FIG. 14 illustrates a delivery van MRV100K configured modular chassis2200 connectively coupled with body 218K in accordance with the presentdisclosure.

FIG. 15 illustrates a semi-truck MRV 100L configured with chassis 2200connectively coupled with body 218L in accordance with the presentdisclosure.

FIG. 16 illustrates a recreational vehicle (RV) MRV 100M configured withmodular chassis 2000 connectively coupled with body 218M in accordancewith the present disclosure.

FIG. 17 illustrates MRV 100N configured with modular chassis 2000connectively coupled with body 218N and illustrates MRV 100NN configuredwith modular chassis 1900 connectively coupled with body 218NN inaccordance with the present disclosure.

FIG. 18 illustrates MRV 100O configured with modular chassis 2300connectively coupled with body 218O in accordance with the presentdisclosure.

FIG. 19 is a perspective view of a cab 1900 in accordance with thepresent disclosure.

FIG. 20 is an opened view of the MRV cab 2000 contents in accordancewith the present disclosure.

FIG. 21 is a front view of assembled modular chassis 2100 in accordancewith the present disclosure.

FIG. 22 is a front view of assembled modular chassis 2200 in accordancewith the present disclosure.

FIG. 23 is a front view of assembled modular chassis 2300 in accordancewith the present disclosure.

FIG. 24-FIG. 31C are schematic diagrams of the various operating modes2400-2900 in accordance with the present disclosure.

DETAILED DESCRIPTION OF THE DRAWINGS

The present application offers different types of modular roboticvehicles 100 utilizing a modular chassis 200A-2300 and robotic drivewheels 300 henceforth as: MRV”, “MRV 100”, “modular robotic vehicle 100”configured to be a manned or unmanned modular and utilized for personaluse or utilized for commercial applications, service work accommodatingvarious professions. Primarily the modular robotic vehicle MRV 100 isutilized by a driver 101 selecting to drive manually or be drivenautonomously.

In greater detail FIG. 1A illustrates a front view of robot MRV 100A andFIG. 1B illustrates a side view of robot MRV100A comprises modularchassis 200A said modular chassis 200A is shown connectively coupledwith a right side couple with a right robotic drive 300 a and a leftside connectively coupled with a left robotic drive wheel 300 b.Accordingly to those skilled in the art the chassis module and frameassemblies can be configured with side sections, corners, or acombination of corners and side sections; respectively one or morerobotic drive wheels arranged on said side sections, said corners, orsaid combination of said corners and said side sections. As shown in therobot MRV 100A is configured with an augmented head 104 disposed on anupper portion, the augmented head comprising computer-generatedinteractive facial components, the head 104 being human like or animallike; or an augmented head with interactive LED lighting componentsbeing futuristic looking; a truck portion 105 configured with one ormore robotic arms 106 a, 106 b; said one or more robotic arms configuredwith robotic hands, grippers 109 a, 109 b, suction devices, or otherhandling implements; a disjointed waist 107, said disjointed waist 107disposed between said trunk portion 105 and a base portion 108, saiddisjointed waist 107 configured to rotate said trunk portion 105 at anapproximate angle degree opposed to said base portion 108, the trunkportion 105 configured with a control panel 425 and compartment 110 withhatch, the compartment 110 utilized for housing a control system 400 andvarious components 401-442 including head lamps 111 and turn signals 112cameras 413 and sensor 414-419.

In various elements the frame assemblies include encasements for housinga Control System 400 and a battery(s), wherein the robot MRV 100Acomprise subsystem providing various components 401-450. The controlsystem 400 is associated with control processes utilizing asemiautonomous system 401 for manual driving or using an autonomousdriving system 402, processors 403, associated with an assortment ofcameras 414 and sensors which may include; LIDAR 415, Radar 416, anacoustic sensor 417, an ultrasonic sensor 418, a contact sensor 419, orother perimeter monitoring sensors providing sensor data 420 based ondetermining objects in an environment 421, a gyroscope 441 containedwithin a body 218B or an IMU provided to assist with balance of thehumanoid MRV 100A and a virtual personal assistant 435.

In various element the robot MRV 100A robotic drive wheels comprise ahanger arm is connectively coupled onto the frame by an arrangement offasteners, nuts and bolts; a steering controller accordance with driver101 or user 102 instructions and in accordance with the autonomousdriving system 402 for separately controlling the rotational directionof a drive wheel and the velocity of the motor, the chassis and roboticdrive wheel are detailed herein.

In greater detail FIG. 2 exemplifies a modular chassis 200; the modularchassis including frame assemblies configured with side sections,corners, or a combination of corners and side sections; one or morerobotic drive wheels arranged on said modular chassis; the fullyassembled modular chassis 200 comprising a set of robotic drive wheels300 a and 300 b disposed on the sides of the modular chassis 200,respectively the modular chassis is utilized in the construction of asmall vehicle utilizing one modular chassis 200A/200B detailed in FIGS.5-8 or a large vehicle utilizing more than one modular chassis 200 asdetailed in FIGS. 19-22.

Accordingly herein FIG. 2A, FIG. 2B and FIG. 2C provide perspectiveillustrations of the modular chassis frame 201, wherein the frameincluding; metal brackets 202 assembled with nut and bolts 203, as shownan upper portion 204, a front portion 204, an end portion 206, a lowerportion 207, a centralized cavity 401, frame openings 209, a right sidesection 210 a and a left side section 210 b, an encasement 211 a, 211 b,a first housing 212, fasteners 213, an array of wiring 214 withelectrical connectors 215 a, 215 b; as shown a right robotic drive wheel300 a is disposed on the right side section 210 a as indicated by arrowsand a left robotic drive wheel 300 b is disposed on a left side section210 b as indicated by arrows; respectively a battery 216 and charger 217is disposed within the centralized cavity 401, and a gyroscope 439provided to assist with balance of the modular robotic vehicle 100, thegyroscope accelerometer 441 set at center mass (CM) and housed alsowithin the centralized cavity 401, and may include an IMU 442 and arrayof sensors 415-419.

In various elements the modular chassis type 200A/200B, 1900-2200 isconstructive to couple with a vehicle body 218, the vehicle body typevaries as indicted by numbering: 218A-218O in FIGS. 1, 5-18, the body218 accommodates at least one bumper 219 which is constructed ofimpact-resistant plastic, rubber, or another suitable material.

In greater detail FIG. 3A, FIG. 3B and FIG. 3C illustrate the roboticdrive wheel 300 components including; a drive wheel array 301comprising; a tire 301 a, an axle 301 b a hub 301 c, a motor 302 whichmay be an electric motor or a motor configured with planetary gears,sprockets or combinations thereof, an actuated brake 303, a hanger arm304, a housing 305, a steering controller 306, a coupling bracket 307and wiring 308, the wiring 307 is completely contained and continuouslythreaded therethrough to be hidden from view. The hanger arm 304 furthercomprising a suspension module 309, accordingly the suspension module309 is mounted externally on the hanger arm 304 with fasteners orcontained within the hanger arm to be hidden from view as exampled inFIG. 3C, respectively the suspension module 309 is disjointedly mountedon the hanger arm to provide a rocking means for smooth transitioningwhen the robotic drive wheel 300 traverses over uneven terrain.Accordingly, the hanger arm is connectively coupled onto the frame'smetal bracket 202 by nuts and bolts 310 as exampled herein.

As shown in FIG. 3A the frame's metal bracket 202 is configured toreceive the coupling bracket 307, whereby the housing 305 and hanger arm304 are connectively attached outwardly on the frame's metal bracket202, the metal bracket 307 is connected thereon with nut and bolts 310such that the robotic drive wheel 300 can be detachable for maintenancepurposes or replacement.

In various control elements respectively the steering controller 303 isassociated with the control system 400 and with a drive bi-wire controlprocess as explain in FIGS. 4A, 4B, accordingly the robotic drive wheel300 may be further configured with one or more control systemcomponents.

In various aspects the control system is associated with receiving datafrom the gyroscope 439 set at center mass (CM) within the modularchassis 200 is utilized to keep the self-balancing vehicle 100A in astanding state.

In various aspects the control system 400 is associated with thesteering controller 303, electric motor 302, actuators, encoders and anIMU 442 in accordance with driver instructions for separatelycontrolling the rotational direction of each robotic drive wheel 300.The electric motor 302 for generating the driving force. It receivestarget values of an output torque, a rotational speed, etc. so that thetarget values are realized. The electric motor 302 control ECU alsooperates as a driving force generator in the negative direction throughregenerative control of the electric motor to control a charged state,etc. of the battery 216 via charger 217.

The steering controller 303 comprising an actuator positioned withrespect to the upper portion 204 to locally control the steeringfunction of the robotic drive wheel 300. The steering controller 303 asshown may be used to provide functional redundancy over all steeringfunctions. The suspension system, in FIG. 3B may by a spring-damper orother assembly requiring a fuel line 311 which are housed within and/orconnected to the lower portion which may contain any electronics such aswiring and joint angle encoders needed for measuring and communicatinginformation pertaining to the orientation of the drive wheel 301 withrespect to the operating modes.

In one or aspects the steering controller 306 utilizes a steering motor306 a, an actuator 306 b, encoders 306 c and printed circuit boardassemblies (PCBAs) 306 d associated hardware which are housed in andcovered by a housing assembly 305, wherein the encoders 306 c configuredto properly encode the position and rotational speed of a steeringactuator 306 a as well as to amplify steering torque from such asteering motor 306 a, e.g., through the actuator 306 b. As will beappreciated by those having ordinary skill in the art, such encoders 306c may include the PCBAs 306 d having local task execution responsibilityfor the robotic drive wheel 300 within which the PCBA 303 d is embeddedalso indicated in FIG. 3B, with instructions received from the controlsystem 400 of FIG. 4. The various PCBAs 306 d, the individual embeddedcontrollers may include a microprocessor, tangible, non-transitory andtransitory memory, transceivers, cooling plates and may utilize OEMwiring 303 e, drive wheel speed sensors 306 f linking OEM wiring,indicated by arrow, to the control system 400 with respect tocontrolling the robotic drive wheel 300.

In various elements once initiated the robotic drive wheel 300 providesthree axes of rotation represented as the drive wheel pivot axis (PA),and a steering axis (SA) and accordingly each robotic drive wheel'ssteering controller 306 can steer the drive wheel array 300 in variousdirections or “omni-directionally” or “holonomic” which will achievedifferent steering motion scenarios.

In greater detail FIG. 4A and FIG. 4B are flowcharts of the MRV ControlSystem 400:

i) The MRV 100 control system 400 The MRV control system configured withvarious components 401-459 and interface process providing: engaging anaction of the drive 101 to press an AUTO engage button 426 b on thecontrol panel 425, immediately the autonomous driving system 402 via adisengage action 447 for disengaging the semiautonomous system, whenpassed, the autonomous driving system 402 deactivates the one or moresmart I/O devices 445 and commences responsive control signals toactivate the autonomous driving system operating platform; and providinga manual state 448, from the autonomous state 449, at any time inresponse to an activating action 446 and/or a disengage action 447, theMRV may transition only to the manual state 449 from intermediate states450 e.g., to enforce safety measures;

ii) providing a drive by-wire system 411 linking with to thedrive-by-wire joystick controller 427, wherein the drive-by-wirejoystick controller 427 switches of the operating mode selector from aclosed position to an open position, or to receive the incomingelectronic signals or at least one driving instruction 427 a orcombinations thereof and delivers the necessary movement or motion tothe MRV, and the drive by-wire system 411 is configured to transmit atleast one response signal or at least one feedback signal or at leastone video feed or combinations thereof to the control system 400;

iii) providing an assortment of cameras 414 and sensors; LIDAR 415,Radar 416, an acoustic sensor 417, an ultrasonic sensor 418, a contactsensor 419, or other perimeter monitoring sensors providing sensor data420 based on determining objects in an environment 421;

iv) providing a Vehicle to Vehicle System utilizing vehicle to vehicledocking mode 2900 associated with a plurality of MVRs 100 that performthe group driving; determining a staying time in a cluster of the MRVsbased on driving data 413 a; generating a routing table 413 b includinga routing order 413 c for transmitting the blockchain 413 d andblockchain data 413 e between the plurality of MVRs according to dwelltime 413 f; transmitting the generated routing table 455 to a slave MRV;forming a blockchain 413 d between the plurality of MVRs in the routingorder 413 c;

v) providing a Vehicle to Vehicle System utilizing vehicle to vehicledocking mode 2900 associated with a plurality of MVRs 100 that performthe group driving; determining a staying time in a cluster of the MRVsbased on driving data 413 a; generating a routing table 413 b includinga routing order 413 c for transmitting the blockchain 413 d andblockchain data 413 e between the plurality of MVRs according to dwelltime 413 f; transmitting the generated routing table 455 to a slave MRV;forming a blockchain 413 d between the plurality of MVRs in the routingorder 413 c;

vi) providing a base station 432 may include one or more wired and/orwireless communication system 410 networks providing 4G or 5G Network,WIFI and GPS connections, the base station 422 can be any remote networkaccess node including a communication satellite, network access points.In addition, remote computing device and/or the remote server 424communication link can provide access to the group of MRVs associatedwith the vehicle to vehicle system 413;

vii) utilizing GSP 412, a Navigation Path Planning System 454 and anObstacle Avoidance System 455 obtaining sensor data 420 providingInstructions 407, information 451 and/or materials that may be stored inmemory 404 may include image data 452, gyroscope measurements, cameraauto-calibration instructions 453;

viii) providing information 421 to the driver 101 to communicate withone or more interface networks 456, an example of which may be adaptedto be used with a base station 433 prospectively, the MRV may or may notbe in communication with any interface networks 456;

ix) providing a wireless communication system 410 associated WIFI 433and Bluetooth 434 with external smart devices, the control systemproviding a Bluetooth 434 pairing with a smartphone 432 or driverinterface 423 providing smart I/O devices 446, a VPA 435 utilized forvoice command 436 and infotainment 436 a;

x) engage action of the drive 101 may correspond by pressing the AUTOengage button 426 a on the control panel 425, when passed operatingmodes; a two-wheel steering mode 2400, an all-wheel steering mode 2500;a traverse steering mode 2600, a park mode 2700, an omni-directionalmode 2800 being utilized for holonomic steering or for performing stuntsand self-docking processes;

xi) providing a manned MRV or an unmanned MRV may be summoned via user102 by a remote network 457 associated with ride trips or to pick uppassengers then drop-off passengers at various locations; to transfer apayload 103 of one or more passengers to a store, a restaurant,appointments, and/or to do chores; consignment to pick up a payload 103or to drop off a payload 103;

xii) utilizing smart I/O devices configured for providing a link to thecontrol system such that the driver 101 can select settings andprogramming to semi-autonomously control the MRV 100 whilst onboard, ora user 102 can select settings and programming to control the MRV 100autonomously from afar.

The control system associated with one or more of the various components459 providing interface processes 401-443 and associating withsubsystems which include; semiautonomous system 401 or an autonomousdriving system 402, processors 403, memory 404, algorithms 405, software406, Instruction 407, Cloud 408, Internet of Things (IoT) 409, aWireless Communication System 410, a Drive Bi-Wire System 411, a GlobalPositioning System (GPS) 412, a Vehicle to Vehicle System 413 providingan assortment of cameras 414 and sensors which may include; LIDAR 415,Radar 416, an acoustic sensor 417, an ultrasonic sensor 418, a contactsensor 419, or other perimeter monitoring sensors providing sensor data420 based on determining objects in an environment 421, a base station422, a driver interface 423 associated with a driver 101, a remoteserver 424, smart I/O devices 445 including; a control panel 425, anAUTO engage button 426 a-426 h, a drive-by-wire joystick controller 427,a joystick steering throttle 428, or a steering wheel 429, throttlepedal 430, brake pedal 431 disposed within a cab 1900, a smartphone 432or tablet like devices preferably utilized by driver 101 for driverinterface 423, WIFI 433, Bluetooth 434, a virtual personal assistant(VPA) 435 associating with voice command 436, and hardware includingaccelerometers 439, steering actuators 440, a gyroscope accelerometer441 and IMU 442, and a navigation subsystem 458 providing operatingmodes; a two-wheel steering mode 2400, an all-wheel steering mode 2500;a traverse steering mode 2600, a park mode 2700, an omni-directionalmode 2800 being utilized for holonomic steering or for performingstunts, and respectively utilized when a vehicle to vehicle docking mode2900 is engaged for a docking procedure between two MRVs.

Accordingly, various elements the control system 400 the semiautonomoussystem 401 selected by driver 101 and the autonomous driving system 402selected by a driver when onboard or selected by a user who is notonboard, hence “a manned or an unmanned MRV 100”.

Accordingly, in various elements the control system 400 associating theMRV may transition from the semiautonomous system 401 to the autonomousdriving system 402 or vice versa in response to an engage action of saiddrive 101. For example, the engage action of the drive 101 maycorrespond by pressing the AUTO engage button 426 a on the control panel425, when passed, the semiautonomous system 401 activating action 446and will allow the driver 101 to utilize one or more smart I/O devices445 to interface with the MRV. In example implementations, thetransition may be carried out by toggling a mechanical joystick steeringthrottle 428, or use a steering wheel 429, throttle pedal 430, brakepedal 431 disposed within a cab 1900, or relay voice command to thecontrol panel 425 via virtual assistant 435 or engage the one or moresmart I/O devices. Thus, while operating in the semiautonomous state,the MRV control system operations. For example, the engage action of thedrive 101 may correspond by pressing the AUTO engage button 426 b on thecontrol panel 425, immediately the autonomous driving system 402 via adisengage action 447 disengages the semiautonomous system, when passed,the autonomous driving system 402 deactivates the one or more smart I/Odevices 445 and commences responsive control signals to activate theautonomous driving system operating platform.

Accordingly in various elements the autonomous driving system operatingplatform associating with the control system 400 one or more processors403; and one or more memory 404 resources storing instructions that,when executed by the one or more processors, cause the MRV controlsystem 400 to monitor a plurality of subsystem interfaces correspondingto respective operation of the MRV, wherein the respective subsysteminterface is in an intermediate state 450, engage a relay of therespective driver interface 423 associated with a driver 101 or user 102in response to the engage input, initiate a drive-by-wire controller toautonomously operate each of the plurality of MRV interfaces comprisesat least a brake interface for controlling braking operations of theMRV, a steering interface for controlling steering of the MRV, and anacceleration interface for controlling acceleration of the MRV.

Accordingly in various elements the MRV may return to a manual state448, from the autonomous state 449, at any time in response to anactivating action 446 and/or a disengage action 447. For example, thedisengage action 447 may be triggered by the upon detecting a driverinput via the one or more manual input mechanisms and smart I/O devices,and/or detecting a failure or fault condition in one or more of theinterface processes 401-443. In example implementations, the MRV maytransition only to the manual state 449 from the autonomous state. Thismay ensure that autonomous vehicle transitions through each of theintermediate states 450 (e.g., to enforce safety measures) before theautonomous state 449 can be engaged again.

In various aspects the drive by-wire system 411 linking with to thedrive-by-wire joystick controller 427, wherein the drive-by-wirejoystick controller 427 switches of the operating mode selector from aclosed position to an open position, or to receive the incomingelectronic signals or at least one driving instruction or combinationsthereof and delivers the necessary movement or motion to the MRV, andthe drive by-wire system 411 is configured to transmit at least oneresponse signal or at least one feedback signal or at least one videofeed or combinations thereof to the control system 400.

Accordingly in various elements the control system 400 associating withsubsystems, respectively the vehicle to vehicle system 413 in which anassortment of cameras 414 and sensors; LIDAR 415, Radar 416, an acousticsensor 417, an ultrasonic sensor 418, a contact sensor 419, or otherperimeter monitoring sensors providing sensor data 420 based ondetermining objects in an environment 421. For example, the controlsystem may include several sensors 414-419 can generate respectivesensor data 420. Each sensor apparatus may include one or more sensorsthat may capture a particular type of information about the surroundingenvironment 421 and objects in the environment 421, and may include anumber of cameras 413 modules that can capture still images and/orvideos (e.g., as sensor data 420 a). Respectively the LIDAR sensor 415can determine distance information to nearby objects (e.g., as sensordata 420 b) using laser ranging techniques; and the inertial measurementunit (IMU) 442 can detect velocity, orientation, and/or gravitationalinformation (e.g., as sensor data 420 c) pertaining to the MRV 100.

Accordingly in various elements the control system 400 associating withsubsystems, respectively the Vehicle to Vehicle System that links with avehicle to vehicle docking mode 2900 associated with a plurality of MVRs100 that perform the group driving; determining a staying time in acluster of the MRVs based on driving data 413 a; generating a routingtable 413 b including a routing order 413 c for transmitting theblockchain 413 d and blockchain data 413 e between the plurality of MVRsaccording to dwell time 413 f; transmitting the generated routing table455 to a slave MRV; forming a blockchain 413 d between the plurality ofMVRs in the routing order 413 c; determining whether or not theblockchain data 413 e is modulated by comparing hash values ofblockchains 413 d formed in front and rear order MVRs 100 or othervehicles of a specific routing order 413 c gathered from obtaineddriving data 413 a.

At least one of a position at which the plurality of MVRs 100 or othervehicles leaves the cluster, an amount of battery power remaining in theMVRs 100 or other vehicle, a year of the MVRs 100 or other vehicle, asize of the MVRs 100 or other vehicle, a type of the MVRs 100 or othervehicle, or a position of the MVRs 100 or other vehicles within thecluster.

Transmitting and receiving the driving data 454 between the plurality ofMRVs; encrypting the driving data of a leading vehicle with a V2X key;calculating the hash value based on the encrypted travel data andforming the block comprising the encrypted travel data and the hashvalue; and transmitting the block to the MVRs in a next order accordingto the routing order 413 c.

The vehicle to vehicle system 413 wirelessly transmits a routing tableand driving data to a slave MRV, receives the driving data from theslave MRV, wherein the processor determines a dwell time in a cluster ofthe MRVs based on the driving data of at least one MRV performs theclustering, and transmits block chain data between the plurality of MRVsaccording to the dwell time. Generating the routing table, forming ablockchain between the plurality of MRVs based on the routing sequence.

In various elements the control system 400 further comprising a basestation 422 providing wireless communication link 433 such as a remoteserver 424 to one or more modular robotic vehicles. The base station 432may include one or more wired and/or wireless communication system 410networks providing 4G or 5G Network, WIFI and GPS connections, the basestation 422 can be any remote network access node including acommunication satellite, network access points. In addition, remotecomputing device and/or the remote server 424 communication link canprovide access to the group of MRVs associated with the vehicle tovehicle system 413.

Respectively, the MRV can be configured to communicate with the remotelyfor exchanging various types of communications and materials includinglocation information and map planning from the Global Positioning System(GPS) 412 provided by one or more GPS satellites.

In various embodiments, the processor 403 can be a general-purposesingle or multi-chip microprocessor (e.g., an ARM processor), a specialpurpose microprocessor (e.g., a digital signal processor (DSP)), amicrocontroller, a programmable gate array, and the like, the processor403 may be referred to as a central processing unit (CPU). Although aprocessor 403 (e.g., multi-core processor) or a combination of differenttypes of processors (e.g., ARM and DSP).

The processor 403 can be configured to implement the methods of variousembodiments providing Instructions 407 can be accessed in hardware orfirmware, and/or in a combination of hardware, software 406 and APPs.

The memory 404 may also be saved to Cloud 408 to store MRV data 451related to driver settings and preferences of the MRV, and as well tostore sensor data 420 gathered from; sensors and cameras (e.g., imagedata) exposure settings, IMU measurements, time stamps, instructiondata, camera imaging data, sensor data 420.

In various elements Instructions 407, information 451 and/or materialsthat may be stored in memory 404 may include image data 452, gyroscopemeasurements, camera auto-calibration instructions 453 (including objectdetection commands, object tracking commands, object locations)Predictor command, timestamp detector command, calibration parametercalculation command, calibration parameter/confidence score estimatorcommand), calibration parameter/confidence score variance thresholddata, current object frame detection object position data, the previousobject position data in the frame data, the calculated calibrationparameter data, and the like based on the Global Positioning System 407(GPS), and via subsystem; Navigation Path Planning System 454 andObstacle Avoidance System 455 obtaining sensor data 420.

The memory 404 can be any electronic component capable of storing“electronic” information 451, including, for example, random accessmemory (RAM), read only memory (ROM), disk storage media, opticalstorage media, flash memory devices in RAM. The onboard memory includedin the processor, the erasable programmable read only memory (EPROM),the electronic erasable programmable read only memory (EEPROM), thescratchpad, etc., including combinations thereof.

The control system 400 associated with a wireless communication system410 utilizing smart I/O devices 445 information 421 for accommodatingthe driver 101 to communicate with one or more interface networks 456,an example of which may be adapted to be used with a base station 433prospectively, the MRV may or may not be in communication with anyinterface networks 456 with respect to the navigation methods describedherein. Accordingly said wireless communication system may also utilizea Light Fidelity (LiFi) system.

In various elements the control system 400 further associated with thebase station 432 providing wireless communication link 433 associatedwith server 343 communicate with to one or more modular robotic vehiclestraveling in groups.

The base station 432 may include one or more wired and/or wirelesscommunication connections, the base station 433 can be any interfacenetwork 456 providing access node 457 including a communicationsatellite 458, network access points. In addition, remote computingdevice and/or communication network can provide access to the vehicle tovehicle system 413.

Respectively, the MRV can be configured to communicate with theinterface network 456 for exchanging various types of locationinformation, navigation commands 458, data queries, infotainmentinformation 459, and the like.

The wireless communication system 410 associated WIFI 433 and Bluetooth434 with external smart devices, the control system providing aBluetooth 434 pairing with a smartphone 432 or other smart devicesutilized for voice command 436 options, accordingly other Bluetoothpaired devices may include an iPad or Tablet, Bluetooth Earphone, GoogleGlasses, VR headset, or handheld remote controller device with Bluetoothpairing.

The control system 400 providing WIFI 433, Bluetooth 434, a virtualpersonal assistant 435 associating with voice command 436 andinfotainment 459 and driver interface 423.

The smartphone 434 or built-in smart I/O device smart devices 445 can belinked to the interface network 456 via WIFI provider. The smartphone445 or other built-in smart I/O device smart devices 446 linking thedrive 101 to the base station 433 allowing the driver 101 or user 102 ofan unmanned MRV 100 to select a preferred operating mode.

In some embodiments of the present disclosure, a manned MRV or anunmanned MRV may be summoned via user 102 by a remote network 457associated with Uber® or another transportation network service used topick up passengers then drop-off passengers at various locations.

In some embodiments of the present disclosure offers a manned MRV or anunmanned MRV 100 operatively adapted for consignment to transfer apayload 103 of one or more passengers to a store, a restaurant,appointments, and/or to do chores.

In some embodiments of the present disclosure offers a manned MRV orunmanned MRV operatively adapted for consignment to pick up a payload103 or to drop off a payload 103.

In some embodiments of the present disclosure offers a manned MRV orunmanned MRV 100 operatively adapted for consignment to places andenvironments liken too; outdoors, indoors, buildings, on ground,underground, submerged, up in the air, on planets or in space.

The control system 400 associated with smart 110 devices being internalor external I/O devices for accommodating the driver 101 to communicateinformation 427 through driver interface 423. Accordingly smart I/Odevices are configured for providing a link to the control system suchthat the driver 101 can select settings and programming tosemi-autonomously control the MRV 100 whilst onboard, or a user 102 canselect settings and programming to control the MRV 100 autonomously fromafar.

The body 218 accordingly being a configuration at least that of; MRV100A-MRV 100D and MRV100E-MRV 100O exampled in FIG. 1A, 1B, FIG. 5through FIG. 18, respectively referred hereon as vehicle body 218A-218Oconnectively coupled to a modular chassis type; 200A, 200B, 2000, 2100,2200, 2300 constructed from metal, impact-resistant plastic, lightweightaluminum, fiberglass, or conventional sheet metal, the body 218 iscontoured to drape over tubular frame pieces to protect underlyingelectronic components and a convex shaped cavity covering each roboticdrive wheel 300.

Referring now to an adaptable seating unit 228 with adjustable armsconfigured with right or left side holder 230 for attaching a smartphone432 used for driver interface, the smartphone associating with WIFI 433,Bluetooth 434, a virtual assistant 435 providing voice command 436allowing driver 101 to verbally control settings and access the IoT 409.

The driver 101 utilizes the control to access the unlocking or lockingrobotic drive wheels of the MRV and turning the MRV ON/OFF, the drivercan control the adaptable arms and mirrors according and power on/offany head lamps 221, tail lights 222, turn signal lights 223. Theadaptable chair arms contain smart I/O devices 445 including; a controlpanel 425, an AUTO engage button 426 a-426 h, a drive-by-wire joystickcontroller 427, a joystick steering throttle 428.

Accordingly the MRV 100A-MRV 100F may require a self-balancing componentsuch as a gyroscope 441 assisted with an IMU 442 for providing aself-balancing process configured for maintaining an upright position ofthe MRV 100 during traveling and traversing on roads, and utilize thesemiautonomous system 401 proving driver interface control, or utilizethe autonomous driving system 402 configured for controlling thesteering and speed of each robotic drive wheels disposed on right andleft sides of the chassis 200A/200B, or configured for controlling thesteering and speed of each robotic drive wheel 300 disposed on the rightand left front portions, or configured for control ling the steering andspeed and braking of each robotic drive wheel 300 c disposed on theright and left rear portions, other robotic drive wheel arrangements aredisposed in different framing scenarios are realized herein.

In greater detail FIG. 5 is a modular robotic vehicle can be describedas a self-balancing wheelchair MRV 100B comprising modular chassis 200Aconfigured with as a gyroscope 441 contained within a body 218B, a frontportion 204 connecting to an adaptable footing platform 225 to supportthe drivers 101 and her/his footing placement, a bumper 219 a, endportion 206 comprising a bumper 219 b, a rear trunk 220 b comprisingupper and lower locked storage compartments, the front/rear and sidessections being configured with head lamps 221, tail lights 222, turnsignal lights 223, and one or more of the following; cameras 414 andsensors 415-419 and using at least one of LIDAR 415, Radar 416; anacoustic-sensing system 417, an ultrasonic-sensing system 418, and acontact sensor 419.

The modular chassis 200 includes a seating unit 228 comprising smart I/Odevices 445 including; a control panel 425, an AUTO engage button 426a-426 h, a drive-by-wire joystick controller 427, a joystick steeringthrottle 428, a smartphone 432 or tablet like devices preferablyutilized by driver 101 for driver interface 423, WIFI 433, Bluetooth434, a virtual personal assistant (VPA) 435 associating with voicecommand 436, and hardware including accelerometers 439, steeringactuators 440, a gyroscope accelerometer 441 and IMU 442, and anavigation subsystem 458 providing operating modes; a two-wheel steeringmode 2400, the control panel 425 having a lock and key security system425 a for driver accessing use, the a joystick steering throttle 428 forcontrolling steering and velocity level of each robotic drive wheel 300.

Respectively the driver 101 utilizes the control panel 425 to access theunlocking or locking robotic drive wheels of the MRV 100 and turning theMRV 100 ON/OFF, the driver can control the adaptable arms and mirrors,head lamps 221, tail lights 222, turn signal lights 223, and monitorstatus of cameras 414 and sensors 415-419.

Respectively the control system may be associated with external smartdevices providing a Bluetooth 444 link to pair with a driver'ssmartphone 432 or built-in smart I/O devices 445 either being utilizedfor voice command controlling options, as shown the smartphone 432 beingconnected on a coupling bracket disposed on an arm of the adaptablechair 228, accordingly the smartphone 432 or other smart input or outputdevice being linked to a remote network or base station via WIFI 433provider. The smartphone 432 other smart linking to the control systemthe smartphone 445 providing a controller means configured for selectiona driver's preferred operating mode.

Respectively as shown in FIG. 5 through FIG. 18 the drive wheel arrays301 are shown to be turned in various directions, conceivably the arrayof robotic drive wheels can rotate inward or outward which the followingdrawings indicate, however, it is to be understood that the positions ofthe robotic drive wheels can simultaneously rotate in a synchronizedholonomic manner. Respectively the right robotic drive wheel 300 mayrotated at an approximate degree between 0-306, various possibilitieswhich may include the robotic drive wheel to turn at 45-degrees degreesso that the hanger arm 304 of the robotic drive wheel array 301 facesoutward which indicate the self-balancing vehicle MRV 100A is steeringlaterally to the right. Accordingly, the hanger arm 304 is facing inwardwould achieve the same steering to the right outcome, different rotationdegrees and steering scenarios are possible.

Respectively driver 101 of the self-balancing vehicle 100A may havephysical limitation to select control components with her/his hands orfingers, therefore virtual assistance technology 441 like a kind of aSiri™ or Alexa™ making it available for a driver 101 of theself-balancing vehicle 100A to control the steering and braking viadriver voice control.

Referring to FIG. 6 is a modular robotic vehicle can be described as atricycle MRV 100B comprises modular chassis 200B configured further toinclude front portion 204 connecting to a pultruding deck 226, a bumper219 a, end portion 206 comprising a bumper 219 b, a rear trunk 220 bcomprising upper and lower locked storage compartments, the front/rearand sides sections being configured with head lamps 221, tail lights222, turn signal lights 223, and one or more of the following; cameras414 and sensors 415-419.

The pultruding deck 226 to support a driver 101 to climb on board; aspacious interior configured for footing placement of the driver 101 andhaving for storage; the spacious interior comprising a LED light 224.The pultruding deck 226 to support at least one dummy caster wheel 227set underneath a lower portion 207 of the tricycle 100B to assistbalance stability and for maneuvering the tricycle 100B, the casterwheel 227 providing a suspension means to transition smoothly overunlevel ground, ramps, sidewalks and street surfaces.

In greater detail FIG. 7 illustrates mini-car MRV 100D, wherein each areconfigured with modular chassis 200B and body 218D also with apultruding deck 226 with at least one dummy wheel 227, a bumper 219 a,end portion 206 comprising a front 219 a and rear bumper 219 b and arear trunk 220 b comprising upper and lower locked storage compartments110 with hatch, the front/rear and sides sections being configured withhead lamps 221, tail lights 222, turn signal lights 223, and portions ofthe modular chassis 200B and the body 218D is configured with one ormore cameras and sensors 413-419.

The pultruding deck 226 to support a driver 101 to climb on board; aspacious interior configured for footing placement of the driver 101 andhaving for storage; the spacious interior comprising a LED light 224.The pultruding deck 226 to support at least one dummy caster wheel 227set underneath a lower portion 207 of the tricycle MRV 100B to assistbalance stability and for maneuvering the tricycle 100B, the casterwheel 227 providing a suspension means to transition smoothly overunlevel ground, ramps, sidewalks and street surface.

The body 218D are configured with a front door 228 opening for driveraccess and can be attached with framed brackets 229 conforming to anattachable hood 230 which is formed with plexiglass 231 and/or a cover232 to provide shade, as shown the hood unit 230 being domed shaped, theconfigured to be detachable and configured with gaskets, and may beconfigured with an optional overhead bar or other overhead supportstructure, a convertible top or other hood configurations.

As shown FIG. 8 exemplifies a modular robotic vehicle which can bedescribed as a gyro-car MRV 100E with a detached hood 230, as well asthe body 218E may be configured smaller and without a hood 230, orplausibly a bumper car or a ride-on toy whereas the bumper car would notcomprise a trunk or a rear hatch since bumper cars are suited foramusement park rides. The control system 400 and/or the smartphone 445and smart I/O devices 446 can be linked to remote network or basestation allowing a manned MRV 100 or a user 102 of an unmanned MRV 100to be consigned.

In greater detail FIG. 9 is a modular robotic vehicle described as asedan MRV 100F configured with modular chassis 2000 and body 218F,wherein the sedan MRV 100F comprises a control system 400 utilizing avariety of operating modes configured for controlling the steering ofeach front robotic drive wheel 300 a, 300 b, controlling the steeringand braking of each rear robotic drive wheel 300 c, 300 d, respectivelya control system 400, when driver 101 is onboard, employs either thesemiautonomous system 401 or autonomous driving system 402 linking to asteering wheel a steering wheel 429, throttle pedal 430, brake pedal 431disposed within a cab 1900, a smartphone 432 or tablet like devicespreferably utilized by driver 101 for driver interface 423 forcontrolling steering and speed of each front robotic drive wheel 300 a,300 b and/or controlling the steering, speed and braking of each rearrobotic drive wheel 300 c, 300 d, as well the body 218F is configuredwith a bumper 226 a, 226 b, a front trunk 227 a and a rear compartment227 b comprising upper and lower locked storage compartments 110 withhatch, the front and rear sections being configured with head lamps 228,tail lights 229, turn signal lights 230, and comprising one or moresensor system may include one or more of the following; cameras 313,sensors 314-316, a LIDAR 317, Radar 318 determining objects in anenvironment 421. The cab 1900 components include; a steering wheel 429,throttle pedal 430, brake pedal 431, and the dashboard 1901 may beconfigured to house, a smartphone 432 or tablet like devices preferablyutilized by driver 101 for driver interface 101 a, furthermore the cab1900 accommodating front and rear seating units 1904 a, 1904 b includingseat belts, a dashboard for housing a control panel 1902 componentsincluding; airbags, via the control panel 1902 the driver 101 selectsvirtual buttons for controlling the power on/off to the head lamps 221,tail lights 222 and other devices.

The control system 400 providing WIFI 433, Bluetooth 434, a virtualpersonal assistant 435 associating with voice command 436 of the driverinterface 423, and hardware including accelerometers 439, steeringactuators 440, a gyroscope accelerometer 441 and IMU 442, and anavigation subsystem 458 providing operating modes; a two-wheel steeringmode 2400, an all-wheel steering mode 2500; a traverse steering mode2600, a park mode 2700, an omni-directional mode 2800 being utilized forperforming stunts, and a vehicle to vehicle docking mode 2900. Whereinthe dash board's control panel 1902 providing a lock and key securitysystem 1905 for driver accessing use of the sedan MRV 100F.

In greater detail FIG. 10 illustrates a modular robotic vehicledescribed as a minivan MRV 100G configured with modular chassis 2000 andbody 218G, wherein the minivan MRV 100G comprises a control system 400utilizing a variety of operating modes configured for controlling thesteering of each front robotic drive wheel 300 a, 300 b, controlling thesteering and braking of each rear robotic drive wheel 300 c, 300 d,respectively a control system 400, when driver 101 is onboard, employseither the semiautonomous system 401 or autonomous driving system 402linking to a steering wheel a steering wheel 429, throttle pedal 430,brake pedal 431 disposed within a cab 1900, a smartphone 432 or tabletlike devices preferably utilized by driver 101 for driver interface 423for controlling steering and speed of each front robotic drive wheel 300a, 300 b and/or controlling the steering, speed and braking of each rearrobotic drive wheel 300 c, 300 d, as well the body 218G is configuredwith a bumper 226 a, 226 b, a front trunk 227 a and a rear compartment227 b comprising upper and lower locked storage compartments 110 withhatch, the front and rear sections being configured with head lamps 228,tail lights 229, turn signal lights 230, and comprising one or moresensor system may include one or more of the following; cameras 313,sensors 314-316, a LIDAR 317, Radar 318 determining objects in anenvironment 421. The cab 1900 components include; a steering wheel 429,throttle pedal 430, brake pedal 431, and the dashboard 1901 may beconfigured to house, a smartphone 432 or tablet like devices preferablyutilized by driver 101 for driver interface 101 a, furthermore the cab1900 accommodating front and rear seating units 1904 a, 1904 b includingseat belts, a dashboard for housing a control panel 1902 componentsincluding; airbags, via the control panel 1902 the driver 101 selectsvirtual buttons for controlling the power on/off to the head lamps 221,tail lights 222 and other devices.

The control system 400 providing WIFI 433, Bluetooth 434, a virtualpersonal assistant 435 associating with voice command 436 of the driverinterface 423, and hardware including accelerometers 439, steeringactuators 440, a gyroscope accelerometer 441 and IMU 442, and anavigation subsystem 458 providing operating modes; a two-wheel steeringmode 2400, an all-wheel steering mode 2500; a traverse steering mode2600, a park mode 2700, an omni-directional mode 2800 being utilized forperforming stunts, and a vehicle to vehicle docking mode 2900. Whereinthe dash board's control panel 1902 providing a lock and key securitysystem 1905 for driver accessing use of the minivan MRV 100G.

In greater detail FIG. 11 illustrates a modular robotic vehicledescribed as a truck MRV 100H configured modular chassis 2000 andvehicle body 218H, wherein the ATV MRV 100I configured with modularchassis 2000 and body 218H, wherein the truck MRV 100H comprises acontrol system 400 utilizing a variety of operating modes configured forcontrolling the steering of each front robotic drive wheel 300 a, 300 b,controlling the steering and braking of each rear robotic drive wheel300 c, 300 d, respectively a control system 400, when driver 101 isonboard, employs either the semiautonomous system 401 or autonomousdriving system 402 linking to a steering wheel a steering wheel 429,throttle pedal 430, brake pedal 431 disposed within a cab 1900, asmartphone 432 or tablet like devices preferably utilized by driver 101for driver interface 423 for controlling steering and speed of eachfront robotic drive wheel 300 a, 300 b and/or controlling the steering,speed and braking of each rear robotic drive wheel 300 c, 300 d, as wellthe body 218H is configured with a bumper 226 a, 226 b, a front trunk227 a and a rear compartment 227 b comprising upper and lower lockedstorage compartments 110 with hatch, the front and rear sections beingconfigured with head lamps 228, tail lights 229, turn signal lights 230,and comprising one or more sensor system may include one or more of thefollowing; cameras 313, sensors 314-316, a LIDAR 317, Radar 318determining objects in an environment 421. The cab 1900 componentsinclude; a steering wheel 429, throttle pedal 430, brake pedal 431, andthe dashboard 1901 may be configured to house, a smartphone 432 ortablet like devices preferably utilized by driver 101 for driverinterface 101 a, furthermore the cab 1900 accommodating front and rearseating units 1904 a, 1904 b including seat belts, a dashboard forhousing a control panel 1902 components including; airbags, via thecontrol panel 1902 the driver 101 selects virtual buttons forcontrolling the power on/off to the head lamps 221, tail lights 222 andother devices.

The control system 400 providing WIFI 433, Bluetooth 434, a virtualpersonal assistant 435 associating with voice command 436 of the driverinterface 423, and hardware including accelerometers 439, steeringactuators 440, a gyroscope accelerometer 441 and IMU 442, and anavigation subsystem 458 providing operating modes; a two-wheel steeringmode 2400, an all-wheel steering mode 2500; a traverse steering mode2600, a park mode 2700, an omni-directional mode 2800 being utilized forperforming stunts, and a vehicle to vehicle docking mode 2900. Whereinthe dash board's control panel 1902 providing a lock and key securitysystem 1905 for driver accessing use of the truck MRV 100H.

In greater detail FIG. 12 illustrates a modular robotic vehicledescribed as an ATV all-terrain vehicle MRV 100I configured modularchassis 2000 and vehicle body 218I, wherein the ATV MRV 100I configuredwith modular chassis 2000 and body 218I, wherein the ATV MRV 100Icomprises a control system 400 utilizing a variety of operating modesconfigured for controlling the steering of each front robotic drivewheel 300 a, 300 b, controlling the steering and braking of each rearrobotic drive wheel 300 c, 300 d, respectively a control system 400,when driver 101 is onboard, employs either the semiautonomous system 401or autonomous driving system 402 linking to a steering wheel a steeringwheel 429, throttle pedal 430, brake pedal 431 disposed within a cab1900, a smartphone 432 or tablet like devices preferably utilized bydriver 101 for driver interface 423 for controlling steering and speedof each front robotic drive wheel 300 a, 300 b and/or controlling thesteering, speed and braking of each rear robotic drive wheel 300 c, 300d, as well the body 218I is configured with a bumper 226 a, 226 b, afront trunk 227 a and a rear compartment 227 b comprising upper andlower locked storage compartments 110 with hatch, the front and rearsections being configured with head lamps 228, tail lights 229, turnsignal lights 230, and comprising one or more sensor system may includeone or more of the following; cameras 313, sensors 314-316, a LIDAR 317,Radar 318 determining objects in an environment 421. The cab 1900components include; a steering wheel 429, throttle pedal 430, brakepedal 431, and the dashboard 1901 may be configured to house, asmartphone 432 or tablet like devices preferably utilized by driver 101for driver interface 101 a, furthermore the cab 1900 accommodating frontand rear seating units 1904 a, 1904 b including seat belts, a dashboardfor housing a control panel 1902 components including; airbags, via thecontrol panel 1902 the driver 101 selects virtual buttons forcontrolling the power on/off to the head lamps 221, tail lights 222 andother devices.

The control system 400 providing WIFI 433, Bluetooth 434, a virtualpersonal assistant 435 associating with voice command 436 of the driverinterface 423, and hardware including accelerometers 439, steeringactuators 440, a gyroscope accelerometer 441 and IMU 442, and anavigation subsystem 458 providing operating modes; a two-wheel steeringmode 2400, an all-wheel steering mode 2500; a traverse steering mode2600, a park mode 2700, an omni-directional mode 2800 being utilized forperforming stunts, and a vehicle to vehicle docking mode 2900. Whereinthe dash board's control panel 1902 providing a lock and key securitysystem 1905 for driver accessing use of the ATV MRV 100I.

In greater detail FIG. 13 illustrates a modular robotic vehicledescribed as a deliver van MRV 100J configured with modular chassis 2100and body 218J, wherein the delivery van MRV 100I comprises a controlsystem 400 utilizing a variety of operating modes configured forcontrolling the steering and speed of a right front corner robotic drivewheel 300 a, and a left front corner 300 b, for controlling the steeringand speed of and braking of a right centered side robotic drive wheel300 c and a left centered side robotic drive wheel 300 d, as well as aright rear corner robotic drive wheel 300 e and a left rear cornerrobotic drive wheel 300 f. Respectively the control system 400, whendriver 101 is onboard, employs either the semiautonomous system 401 orautonomous driving system 402 linking to a steering wheel a steeringwheel 429, throttle pedal 430, brake pedal 431 disposed within a cab1900, a smartphone 432 or tablet like devices preferably utilized bydriver 101 for driver interface 423 for controlling steering and speedof each front robotic drive wheel 300 a, 300 b and/or controlling thesteering, speed and braking of each rear robotic drive wheel 300 c, 300d, as well the body 218J is configured with a bumper 226 a, 226 b, afront trunk 227 a and a rear compartment 227 b comprising upper andlower locked storage compartments 110 with hatch, the front and rearsections being configured with head lamps 228, tail lights 229, turnsignal lights 230, and comprising one or more sensor system may includeone or more of the following; cameras 313, sensors 314-316, a LIDAR 317,Radar 318 determining objects in an environment 421. The cab 1900components include; a steering wheel 429, throttle pedal 430, brakepedal 431, and the dashboard 1901 may be configured to house, asmartphone 432 or tablet like devices preferably utilized by driver 101for driver interface 423, furthermore the cab 1900 accommodating frontand rear seating units 1904 a, 1904 b including seat belts, a dashboardfor housing a control panel 1902 components including; airbags, via thecontrol panel 1902 the driver 101 selects virtual buttons forcontrolling the power on/off to the head lamps 221, tail lights 222 andother devices.

The control system providing WIFI 433, Bluetooth 434, a virtualassistant 435 associating with voice command 436 of the driver interface423, and hardware including accelerometers 439, steering actuators 440,a gyroscope accelerometer 441 and IMU 442, and a navigation subsystem458 providing operating modes; a two-wheel steering mode 2400, anall-wheel steering mode 2500; a traverse steering mode 2600, a park mode2700, an omni-directional mode 2800 being utilized for performingstunts, and a vehicle to vehicle docking mode 2900. Wherein the dashboard's control panel 1902 providing a lock and key security system 1905for driver accessing use of the delivery van MRV 100J.

In greater detail FIG. 14 illustrates a modular robotic vehicledescribed as a deliver van MRV 100K configured with modular chassis 2200and body 218K, wherein the delivery van MRV 100I comprises a controlsystem 400 utilizing a variety of operating modes configured forcontrolling the steering and speed of a right front corner robotic drivewheel 300 a, and a left front corner 300 b, for controlling the steeringand speed of and braking of a right rear side robotic drive wheel 300 cand a left rear side robotic drive wheel 300 d, as well as a right rearcorner robotic drive wheel 300 e and a left rear corner robotic drivewheel 300 f. Respectively the control system 400, when driver 101 isonboard, employs either the semiautonomous system 401 or autonomousdriving system 402 linking to a steering wheel a steering wheel 429,throttle pedal 430, brake pedal 431 disposed within a cab 1900, asmartphone 432 or tablet like devices preferably utilized by driver 101for driver interface 423 for controlling steering and speed of eachfront robotic drive wheel 300 a, 300 b and/or controlling the steering,speed and braking of each rear robotic drive wheel 300 c, 300 d, as wellthe body 218K is configured with a bumper 226 a, 226 b, a front trunk227 a and a rear compartment 227 b comprising upper and lower lockedstorage compartments 110 with hatch, the front and rear sections beingconfigured with head lamps 228, tail lights 229, turn signal lights 230,and comprising one or more sensor system may include one or more of thefollowing; cameras 313, sensors 314-316, a LIDAR 317, Radar 318determining objects in an environment 421. The cab 1900 componentsinclude; a steering wheel 429, throttle pedal 430, brake pedal 431, andthe dashboard 1901 may be configured to house, a smartphone 432 ortablet like devices preferably utilized by driver 101 for driverinterface 423, furthermore the cab 1900 accommodating front and rearseating units 1904 a, 1904 b including seat belts, a dashboard forhousing a control panel 1902 components including; airbags, via thecontrol panel 1902 the driver 101 selects virtual buttons forcontrolling the power on/off to the head lamps 221, tail lights 222 andother devices.

The control system providing WIFI 433, Bluetooth 434, a virtualassistant 435 associating with voice command 436 of the driver interface423, and hardware including accelerometers 439, steering actuators 440,a gyroscope accelerometer 441 and IMU 442, and a navigation subsystem458 providing operating modes; a two-wheel steering mode 2400, anall-wheel steering mode 2500; a traverse steering mode 2600, a park mode2700, an omni-directional mode 2800 being utilized for performingstunts, and a vehicle to vehicle docking mode 2900. Wherein the dashboard's control panel 1902 providing a lock and key security system 1905for driver accessing use of the delivery van MRV 100K.

In greater detail FIG. 15 illustrates a modular robotic vehicledescribed as a semitruck MRV 100L configured with modular chassis 2200and body 218L, wherein the delivery van MRV 100I comprises a controlsystem 400 utilizing a variety of operating modes configured forcontrolling the steering and speed of a right front corner robotic drivewheel 300 a, and a left front corner 300 b, for controlling the steeringand speed of and braking of a right rear side robotic drive wheel 300 cand a left rear side robotic drive wheel 300 d, as well as a right rearcorner robotic drive wheel 300 e and a left rear corner robotic drivewheel 300 f. Respectively the control system 400, when driver 101 isonboard, employs either the semiautonomous system 401 or autonomousdriving system 402 linking to a steering wheel a steering wheel 429,throttle pedal 430, brake pedal 431 disposed within a cab 1900, asmartphone 432 or tablet like devices preferably utilized by driver 101for driver interface 423 for controlling steering and speed of eachfront robotic drive wheel 300 a, 300 b and/or controlling the steering,speed and braking of each rear robotic drive wheel 300 c, 300 d, as wellthe body 218L is configured with a bumper 226 a, 226 b, a front trunk227 a and a rear compartment 227 b comprising upper and lower lockedstorage compartments 110 with hatch, the front and rear sections beingconfigured with head lamps 228, tail lights 229, turn signal lights 230,and comprising one or more sensor system may include one or more of thefollowing; cameras 313, sensors 314-316, a LIDAR 317, Radar 318determining objects in an environment 421. The cab 1900 componentsinclude; a steering wheel 429, throttle pedal 430, brake pedal 431, andthe dashboard 1901 may be configured to house, a smartphone 432 ortablet like devices preferably utilized by driver 101 for driverinterface 423, furthermore the cab 1900 accommodating front and rearseating units 1904 a, 1904 b including seat belts, a dashboard forhousing a control panel 1902 components including; airbags, a controlpanel 1902 and a smartphone 445 attached to bracket holder 230 containedthereon, switches on the control panel when selected by the drivercontrols the power on/off the head lamps 221, tail lights 222.

The control system providing WIFI 433, Bluetooth 434, a virtualassistant 435 associating with voice command 436 of the driver interface423, and hardware including accelerometers 439, steering actuators 440,a gyroscope accelerometer 441 and IMU 442, and a navigation subsystem458 providing operating modes; a two-wheel steering mode 2400, anall-wheel steering mode 2500; a traverse steering mode 2600, a park mode2700, an omni-directional mode 2800 being utilized for performingstunts, and a vehicle to vehicle docking mode 2900. Wherein the dashboard's control panel 1902 providing a lock and key security system 1905for driver accessing use of the semitruck MRV 100L.

In greater detail FIG. 16 illustrates a modular robotic vehicledescribed as a RV MRV 100M configured with modular chassis 2000 and body218M, wherein the RV MRV 100M comprises a control system 400 utilizing avariety of operating modes configured for controlling the steering ofeach front robotic drive wheel 300 a, 300 b, controlling the steeringand braking of each rear robotic drive wheel 300 c, 300 d, respectivelya control system 400, when driver 101 is onboard, employs either thesemiautonomous system 401 or autonomous driving system 402 linking to asteering wheel a steering wheel 429, throttle pedal 430, brake pedal 431disposed within a cab 1900, a smartphone 432 or tablet like devicespreferably utilized by driver 101 for driver interface 423 forcontrolling steering and speed of each front robotic drive wheel 300 a,300 b and/or controlling the steering, speed and braking of each rearrobotic drive wheel 300 c, 300 d, as well the body 218M is configuredwith a bumper 226 a, 226 b, a front trunk 227 a and a rear compartment227 b comprising upper and lower locked storage compartments 110 withhatch, the front and rear sections being configured with head lamps 228,tail lights 229, turn signal lights 230, and comprising one or moresensor system may include one or more of the following; cameras 313,sensors 314-316, a LIDAR 317, Radar 318 determining objects in anenvironment 421. The cab 1900 components include; a steering wheel 429,throttle pedal 430, brake pedal 431, and the dashboard 1901 may beconfigured to house, a smartphone 432 or tablet like devices preferablyutilized by driver 101 for driver interface 101 a, furthermore the cab1900 accommodating front and rear seating units 1904 a, 1904 b includingseat belts, a dashboard for housing a control panel 1902 componentsincluding; airbags, via the control panel 1902 the driver 101 selectsvirtual buttons for controlling the power on/off to the head lamps 221,tail lights 222 and other devices.

The control system 400 providing WIFI 433, Bluetooth 434, a virtualpersonal assistant 435 associating with voice command 436 of the driverinterface 423, and hardware including accelerometers 439, steeringactuators 440, a gyroscope accelerometer 441 and IMU 442, and anavigation subsystem 458 providing operating modes; a two-wheel steeringmode 2400, an all-wheel steering mode 2500; a traverse steering mode2600, a park mode 2700, an omni-directional mode 2800 being utilized forperforming stunts, and a vehicle to vehicle docking mode 2900. Whereinthe dash board's control panel 1902 providing a lock and key securitysystem 1905 for driver accessing use of the sedan MRV 100F.

In greater detail FIG. 17 illustrates a tractor MRV 100N towing a fifthwheel MRV 100NN accordingly each providing four-wheel steeringcapability, which are synchronized as to maneuver about with all eightrobotic drive wheels steering in various operating modes. As shown thetractor and fifth wheel array, MRV 100N/MRV 100NN, wherein each havingthe same chassis 2000 comprising a diverse arrangement of metalbrackets, tubing or a combination thereof supporting “four” synchronizedrobotic drive wheel arrangements including; front robotic drive wheels330 a, 300 b and two rear robotic drive wheels 300 c, 300 d respectivelyproviding a two-front wheel drive arrangement and a two-rear wheel drivearrangement, and the fifth wheel MRV 100NN configured with a fifth wheelvehicle body 218NN connecting to modular chassis 1900 also comprising adiverse arrangement of metal brackets, tubing or a combination thereofsupporting “four” synchronized robotic drive wheel arrangementsincluding; front robotic drive wheels 330 a, 300 b and two rear roboticdrive wheels 300 c, 300 d, respectively providing a two-front wheeldrive arrangement and a two-rear wheel drive arrangement.

Respectively MRV 100N configured with modular chassis 1900 and vehiclebody 218Na, and accordingly the MRV 100N comprises a control systemutilizing a variety of operating modes configured for controlling thesteering and braking of an array of two front robotic drive wheels 300a, 300 b and two rear robotic drive wheels 300 c, 300 d; andrespectively MRV 100NN configured with modular chassis 1900 and vehiclebody 218Mb, and accordingly the MRV 100NN comprises a control systemutilizing a variety of operating modes configured for controlling thesteering and braking of an array of four synchronously controlledrobotic drive wheels 300 a, 300 b, 300 c, 300 d.

Accordingly said tractor MRV 100N and said fifth wheel MRV 100NN combinefour front robotic drive wheels 300 a, 300 b, 300 c, 300 d, and fourrear robotic drive wheels 300 e, 300 f, 300 g, 300 h, respectively eachrobotic drive wheel is systematically controlled by said control system400, and by various components 450 providing subsystems and operatingmodes, as well, an IMU 442 self-balancing process assisting an uprightposition of the fifth wheel during docking process and travelingtraversing on roads.

Respectively both tractor MRV 100N and fifth wheel MRV 100NN furthercomprising a diverse arrangement of metal brackets, tubing or acombination thereof supporting a group four front synchronized roboticdrive wheel arrangements and a group of four rear synchronized roboticdrive wheel arrangements each group is managed by said control system400.

Wherein a various components 401-459 associating with subsystems andoperating modes are utilized for controlling steering and speed andbraking of; four front robotic drive wheels 300 a, 300 b, 300 c, 300 dand utilized for controlling steering and speed and braking four rearrobotic drive wheels 300 e, 300 f, 300 g, 300 h.

The MVR 100N when driver 101 is onboard, she or he employs either thesemiautonomous system 401 or autonomous driving system 402 linking to asteering wheel a steering wheel 429, throttle pedal 430, brake pedal 431disposed within a cab 1900, a smartphone 432 or tablet like devicespreferably utilized by driver 101 for driver interface 423 the body 218Nand body 219NN are configured with a bumper 226 a, 226 b, a front trunk227 a and a rear compartment 227 b comprising upper and lower lockedstorage compartments 110 with hatch, the front and rear sections beingconfigured with head lamps 228, tail lights 229, turn signal lights 230,and comprising one or more sensor system may include one or more of thefollowing; cameras 313, sensors 314-316, a LIDAR 317, Radar 318determining objects in an environment 421. The cab 1900 componentsinclude; a steering wheel 429, throttle pedal 430, brake pedal 431, andthe dashboard 1901 may be configured to house, a smartphone 432 ortablet like devices preferably utilized by driver 101 for driverinterface 101 a, furthermore the cab 1900 accommodating front and rearseating units 1904 a, 1904 b including seat belts, a dashboard forhousing a control panel 1902 components including; airbags, via thecontrol panel 1902 the driver 101 selects virtual buttons forcontrolling the power on/off to the head lamps 221, tail lights 222 andother devices.

The control system 400 providing WIFI 433, Bluetooth 434, a virtualpersonal assistant 435 associating with voice command 436 of the driverinterface 423, and hardware including accelerometers 439, steeringactuators 440, a gyroscope accelerometer 441 and IMU 442, and anavigation subsystem 458 providing operating modes; a two-wheel steeringmode 2400, an all-wheel steering mode 2500; a traverse steering mode2600, a park mode 2700, an omni-directional mode 2800 being utilized forperforming stunts, and a vehicle to vehicle docking mode 2900. Whereinthe dash board's control panel 1902 providing a lock and key securitysystem 1905 for driver accessing use of the tractor MRV 100N and thefifth wheel MRV 100NN.

Respectively the tractor MRV 100N and fifth wheel MRV 100NN may includea remote network or base station provided for controlling the dockingboth tractor MRV 100N and fifth wheel MRV 100NN, and for controlling adocking process via the vehicle to vehicle docking mode 2900 whereby thedocking process involving the MRV 100N to couple with another MRV 100 orother vehicles.

Respectively each tractor MRV 100N and fifth wheel MRV 100NN may utilizean environment detection system 444 providing cameras 414 and sensors415-419 for detecting objects and identify the location of each object448 and identify object materials 449, the objects being forklifts,humans or robots loading or unloading the MRV 100NN and/or objects inthe surrounding environment 421.

Respectively both tractor MRV 100N is configured with a cab foraccommodating a driver 101 and the fifth wheel is configured for payload103 containment or is configured with a cab and cargo payload.

Respectively the tractor MRV 100N and the fifth wheel MRV 100NN areconfigured with a plurality of sensors, processors 401 and serversinterconnected via the docking mode 2700 to assist in automaticallyconnecting the tractor MRV 100N and the fifth wheel MRV 100NN to oneanother and disconnecting the tractor MRV 100N and the fifth wheel MRV100NN from one another, more particularly each capable of drivingindependently when separated, and each capable of autonomously hitchingto other modular robotic vehicles 100, or other vehicles.

In some embodiments, various components 450 providing subsystems andoperating modes, as well, an IMU 442 provides a self-balancing processconfigured for maintaining an upright position of the MRV 100N/MRV100NNduring traveling and traversing on roads, whereby the linking to asteering wheel 1802 for controlling steering and speed of each frontrobotic drive wheel 300 a, 300 b; whereby the autonomous driving system437 automatically links with the steering wheel and brakes to controlsteering, speed and/or braking of one or more of the robotic drivewheel; 300 a, 300 b, 300 c, 300 d.

Respectively the IMU 442 output measurement can be used to determine theheight, angular rate, line speed and/or position of the MRV 100N;monitoring output by IMU 442 to extract information from one or moreimages captured utilizing environment 421 detection system 444 providingcameras 414 and sensors 415-419 for detecting objects and identify thelocation of each object 448, and identify object materials 449.

In various control elements the tractor MRV 100N and the fifth wheel MRV100NN utilizing a vehicle to vehicle remote network 331 and/or a basestation 332 providing wireless communication link 333 such as a wirelesssignal 333 a linking with one or more modular robotic vehicles.

As exampled, the two front robotic drive wheels 300 a, 300 b aresteering the MRV 100N “semi-truck” or “tractor” as indicated by arrowsas hanger arm is facing outward, whereas, the two rear robotic drivewheels 300 c, 300 d are not engaged to steer the MRV 100NN as the hub isfacing outward.

Accordingly the control system 400 of said tractor MRV 100N and saidfifth wheel MRV 100NN linking with a remote network or base station foroverseeing the vehicle to vehicle docking mode 2900 guiding each otherto subsequently couple together, the process described herein.

Respectively MRV 100N further comprises a skid plate and the fifth wheelMRV 100NN comprises a king pin, respectively the skid plate couples tothe king pin indicated in FIGS. 31A-31C. Accordingly the fifth wheel MRV100NN comprises a right landing gear comprising a ground contacting footand a left landing gear comprising a ground contacting foot, the rightlanding gear disposed on front right corner (not shown) of the modularchassis 2100, and the left landing gear disposed on front left corner ofthe modular chassis 2100 as indicated by arrows each landing gearcomprising a hydraulic actuator or jack ((A), B)). In various elements,the tractor MRV 100N and fifth wheel MRV 100NN are configured to provideand accomplish a docking process involving connecting and disconnectingfrom one another so as to couple by means of a skid plate of tractor MRV100N latching to a kingpin of a fifth wheel MRV 100NN this mechanicalprocess involves the tractor MRV 100N and fifth wheel to autonomouslymaneuvering about until the rear end of tractor MRV 100N lines up withthe front end of the fifth wheel MRV 100NN, once lined up the controlsystem of the fifth wheel MRV 100NN instructs the right and left landinggear to lower-down until the landing gear foot makes contact with theground, not shown, according the height of the fifth wheel MRV 100NN isleveling above the tractor MRV 100N upon contact engagement between theskid plate and kingpin is competed, this process is controlled by thecontrol system instructions, upon completion the right and left landinggear are instructed to raise back up.

In greater detail FIG. 18 illustrates a robotic vehicle which can bedescribed as a mega-van MRV 100O configured with modular chassis 2300and body 218O wherein the MRV 100O comprises a control system utilizinga variety of operating modes configured for controlling the steering andbraking of an array of eight synchronously controlled robotic drivewheels 300 a, 300 b, 300 c, 300 d, 300 e, 300 f, 300 g, and 300 h.

Respectively the mega-van MRV 100) further comprising a diversearrangement of metal brackets, tubing or a combination thereofsupporting a group four front synchronized robotic drive wheelarrangements and a group of four rear synchronized robotic drive wheelarrangements each group is managed by said control system 400.

Wherein a various components 401-459 associating with subsystems andoperating modes are utilized for controlling steering and speed andbraking of; four front robotic drive wheels 300 a, 300 b, 300 c, 300 dand utilized for controlling steering and speed and braking four rearrobotic drive wheels 300 e, 300 f, 300 g, 300 h, each associated with:

The mega-van MVR 100) when manned is configured with a cab accommodatingseating units 1904, a dashboard 1801 for housing a control panel 1902comprising a touch screen display switches for power on/off and controllamps, turns signals, respectively the control panel 1902 providing akeyed identifying security system 1905 for the driver 101 to unlock orlock access to the robotic drive wheels, engage power ON/OFF, controlmirrors accordingly and power on/off any head lamps and control othercab amenities.

Respectively the body 218O is configured with a bumper 226 a, 226 b,rear/side compartments 110 with hatch for storing payload 103, the frontand rear sections being configured with head lamps 228, tail lights 229,turn signal lights 230, and one or more sensor system may include one ormore of the following; cameras 313, sensors 314-316, a LIDAR 317, Radar318.

Respectively the mega-van MRV 100O may include a remote network or basestation provided for controlling the docking a mega-van MRV 100O, andfor controlling a docking process involving the mega-van MRV 100O tocouple with another MRV 100 or other common vehicles.

Respectively the mega-van MRV 100O may utilize an autonomous drivingsystem 402 providing cameras 413 and sensors 414-419 for detectingobjects and identify the location of each object 448 and identify objectmaterials 449, the objects being forklifts, humans or robots loading orunloading the mega-van MRV 100O and/or objects in the surroundingenvironment 421.

In greater detail FIG. 19 illustrates the cab 1900 and various cabcomponents for accommodating a driver 101 and passengers, wherein adashboard 1901 is configured with a console 1902 arranged between thetwo seating units 1903 a, 1903 b, a drive-by-wire joystick controller427 is disposed on the console 1904, a control panel 425 connecting tothe control system 400 and various components, as well the dashboardincludes a steering wheel 429 to control steering of one or more roboticdrive wheels 300, and comprising a floorboard configured with a speedpedal 430 for controlling velocity of each motor 302, and a brake pedal431 for controlling the braking of the drive wheel's actuated brake 303.Wherein the control panel 425 providing a lock and key security system1804 for driver accessing use of the MRV. Accordingly, the cab includesdrive interface 438 and smart I/O devices, a smartphone 432 attached tobracket holder 230 to situate near the driver 101, respectively thecontrol panel 1802 providing virtual buttons for selecting settingsrelating to driver preferences.

In greater detail FIG. 20 the modular chassis 2000 fully assembled forsupporting payload 103, as shown a covered frame 2001 comprises adiverse arrangement of metal bracketed tubing 2002 assembled with nutand bolts 2003, as shown an upper portion 2004, a front portion 2004, anend portion 2006, a lower portion 2007, a centralized cavity 2008, frameopenings 2009, a right side section 2010 a and a left side section 2010b, an encasement 2011 a, 201 b, a first housing 2012, fasteners 2013, anarray of electrical connectors 2014, and illustrates an encasement 2011a for housing the battery 1916 a and battery charger 2017 a and housing2011 b for storing battery 2016 b and battery charger 2017 b, thechassis frame configured with heavy duty metal bracket for supporting apayload 103.

As shown a right robotic drive wheel 300 a is disposed on the right sidesection 2010 a as indicated by arrow (a) and a left robotic drive wheel2020 b is disposed on a left side section 2010 b as indicated by arrow(b); respectively a battery 1915 as indicated by arrow (c) is disposedwithin the centralized cavity 1908, and a gyroscope 441 may be providedto assist balancing control of the modular chassis 2000, the gyroscope441 set at center mass (CM) and housed also within the centralizedcavity 401 as indicated by arrow.

In greater detail FIG. 21 the modular chassis 2100 illustrates anencasement 2111 a for housing the battery 2116 a and battery charger2117 a encasement, wherein the park mode 2500 examples a MRV 100configured with a 90-degree angle accordingly all robotic drive wheels300 c, 300 e and 300 b, 300 f are synchronized to steer sideways to theright in parallel at the same time, or the MRV 100 configured with a270-degree angle accordingly all robotic drive wheels 300 c, 300 e and300 b, 300 f are synchronized to steer sideways to the right in parallelat the same time.

In greater detail FIG. 22 the modular chassis 2200 illustrating theframe's eight metal brackets 2202 such that eight individual roboticdrive wheel 300 can be attached thereon or be detachable for maintenancepurposes or replacement, for reference the shaded slots for mounting therobotic drive wheel are indicated by the white arrows, the mountingarrangement is illustrated in FIG. 3A, respectively the frame furtherconfigured to receive various metal brackets arranged on corner sectionsand on side sections as identified by numbering 2202 a-2202 i.

Accordingly in FIG. 23 the two-wheel steering mode 2300 is utilized forthe driver preferring to drive the MRV 100 with tradition front wheelsteering, wherein robotic drive wheels 300 a, 300 b are engaged to turnin the same direction at the same time, correspondingly two-wheelsteering mode is achievable by all MRVS 100s, the two-wheel steeringmode 2300 is associated with the other steering modes.

Accordingly in FIG. 24 the traverse steering mode 2400 examples a MRV100A-MRV 100D are configured with chassis 200A/200B comprisingsynchronized right and left robotic drive wheels 300 a, 300 b configuredwith a steering controller set at a 45-degree angle accordingly to steerto the MRV 100A-MRV 100D to the right; or the right and left roboticdrive wheels steering controller 306 is configured with a 315-degreeangle accordingly to steer to the MRV 100A-MRV 100D to the left,respectively.

Accordingly in FIG. 25 the park mode 2500 examples a MRV 100 configuredwith a 90-degree angle accordingly all robotic drive wheels 300 c, 300 eand 300 b, 300 f are synchronized to steer sideways to the right inparallel at the same time, or the MRV 100 configured with a 270-degreeangle accordingly all robotic drive wheels 300 c, 300 e and 300 b, 300 fare synchronized to steer sideways to the right in parallel at the sametime.

Accordingly in FIG. 26 the traverse steering mode 2600 examples a MRVcomprising right and left front corners, centered right and left sides,and rear corners coupled with robotic drive wheels 300 a-300 f eachdrive wheel is configured with a steering controller set at a 45-degreeangle accordingly to steer to the MRV diagonally to the right orconfigured with the steering controller set at a 315-degree angleaccordingly to steer to the MRV 100A-MRV 100D to the left, respectively.

Accordingly in FIG. 27 the omni-directional mode 2700 examples theomni-directional mode 2600 respectively the front right and left roboticdrive wheels 300 a, and 300 b steer to the right at a 45-degree angle,and at the same time, the rear right and left sides and rear cornerscoupled to robotic drive wheels 300 c, 300 d, 300 e, 300 f are opposedto steer to the left at 315-degrees such that all four robotic drivewheels steer to the left such that the modular robotic vehicle spins inplace, respectively.

Accordingly in FIG. 28 the omni-directional mode 2700 examples theomni-directional mode 2600 respectively the front robotic drive wheels300 a, and 300 b steer to the right at a 45-degree angle, and at thesame time, the rear robotic drive wheels 300 c and 300 d are opposed tosteer to the left at 315-degrees such that, the MRV spins in place,respectively.

Accordingly in FIG. 39 illustrates an eight-wheel drive arrangement, asshown the park mode 2800 examples a mega-van MRV 100 configured with a90-degree angle accordingly all robotic drive wheels 300 c, 300 e and300 b, 300 f are synchronized to steer sideways to the right in parallelat the same time, or the MRV 100 configured with a 270-degree angleaccordingly all robotic drive wheels 300 c, 300 e and 300 b, 300 f aresynchronized to steer the mega-van MRV 100O sideways to the right inparallel at the same time.

Accordingly in FIG. 30A-FIG. 30C vehicle to vehicle docking mode 2900examples an approximate 10-degree angle laterally positioning frontrobotic drive wheels 300 a, and 300 b steer to slightly the right, andat the same time, accordingly the rear robotic drive wheels 300 c, 300 eand 300 b, 300 f are configured with an opposed 315-degree angle tosteer sideways to the left, accordingly the docking process requiresseveral steering angles to successfully self-dock or to line up inparallel with another vehicle, toad, trailer or fifth wheel to coupletogether, respectively each robotic drive wheel operating provided withvaried degrees of axis of rotation (AOR) represented as the drive wheelpivot axis (PA), and a steering axis (SA) indicated arrows (X, Y, Z).

While the invention has been illustrated and described in detail in thedrawings and foregoing description, the same is to be considered asillustrative and not restrictive in character, it being understood thatonly the preferred embodiment has been shown and described and that allchanges, equivalents, and modifications that come within the spirit ofthe inventions defined by the following claims are desired to beprotected.

I claim:
 1. A modular robotic vehicle comprising: one or more modular chassis, said one or more modular chassis including a frame comprising metal brackets said metal bracket constructing: right and left side sections, or front and rear right and left corners, or a combination of front and rear right and left corners and right and left side sections; one or more robotic drive wheels arranged on said right and left side sections, or arranged on said front and rear right and left corners, or arranged on said a combination of front and rear right and left corners and right and left side sections of said modular chassis; wherein each of said one or more robotic drive wheels are configured with a drive wheel array including; a tire, an axle, a hub, a motor, an electric motor or a geared motor type providing fore and aft propulsion, braking, and a suspension module, an actuated brake, a hanger arm, a housing, a steering controller, a coupling bracket, and wiring contained within said hanger arm, said wiring to be completely hidden from view; said modular chassis further comprising at least one gyroscope, IMU, accelerometers, actuators and sensors; one or more encasements to contain one or more battery's; one or more compartments said one or more compartments for containing various driver interface input and output devices and a control system, said control system associating with one or more of the following: a semiautonomous system, an autonomous driving system providing processors, memory, algorithms, software, Instruction, a wireless communication system, a drive bi-wire system, a vehicle to vehicle system, GPS, a navigation path planning system, an obstacle avoidance system, a base station, a remote server; an assortment of cameras, LIDAR, Radar, an acoustic sensor, an ultrasonic sensor, a contact sensor each providing sensor data based on determining objects in an environment; a navigation system providing operating modes; a two-wheel steering mode, an all-wheel steering mode; a traverse steering mode, a park mode, an omni-directional mode, a vehicle to vehicle docking mode providing docking procedures between two MRVs; WIFI, Bluetooth, Cloud, internet of things (IoT); a driver interface, smart I/O devices, a control panel, a smartphone, or said driver interface associated with a joystick throttle; or steering wheel, throttle pedal, brake pedal for driving a MRV in a semiautonomous state; a virtual personal assistant (VPA) associating with voice command, infotainment and other driver interface processes.
 2. The modular robotic vehicle of claim 1 in which said chassis further comprising a coupling means for connectively coupling to a body, the body being one or more of the following; a robot MRV, a wheelchair MRV, a tricycle MRV, a cart MRV, a gyro-car MRV, a bumper car MRV, a ride-on toy MRV, a golf cart MRV, a sedan, a minivan, a truck, an ATV MRV, a delivery van MRV, a semitruck MRV, a recreational vehicle MRV, a tractor MRV, fifth wheel MRV, a mega-van, a bus MRV, or other vehicle body type.
 3. The modular robotic vehicle (MRV) of claim 1 in which said modular chassis further comprising a gyroscope, said gyroscope for self-balancing said MRV.
 4. The modular robotic vehicle of claim 1 in which said frame further comprising; one or more right sides (RS) coupled to a robotic drive wheel and one or more left sides (LS) coupled to a robotic drive wheel; a right front corner (RFC) coupled to a robotic drive wheel, a left front corner (LFC) coupled to a robotic drive wheel, and a right rear corner (RRC) coupled to a robotic drive wheel, a left rear corner (LRC) coupled to a robotic drive wheel.
 5. The modular robotic vehicle of claim 1 in which said control system further comprising a semiautonomous system associating with driver interface configured with driver input commands.
 6. The modular robotic vehicle of claim 1 in which said the control system further comprising an autonomous driving system associated with a drive bi-wire system for engaging a drive bi-wire process for providing steering, propulsion stability and braking procedures.
 7. The modular robotic vehicle of claims 1 and 6 in which said drive bi-wire system comprising a selection means via a bi-wire joystick controller, said bi-wire joystick controller allowing driver to engage a preferred operating mode.
 8. The modular robotic vehicle of claim 1 in which said the control system further comprising for one or more processors configured for controlling a navigation process of an operating mode configured as: a two-wheel steering mode; an all-wheel steering mode; a traverse steering mode; a park mode; an omni-directional mode; a vehicle to vehicle docking mode.
 9. The modular robotic vehicle of claim 1 in which said control system further comprising: an obstacle avoidance system linking with GPS, a navigation system associating with one or more of; cameras, LIDAR, Radar, an acoustic sensor, an ultrasonic sensor, a contact sensor, or other sensors associated with an autonomous driving system for detecting objects in a parameter of a MRV environment.
 10. The modular robotic vehicle of claim 1 in which said control system further comprising: driver interface associated with smart I/O devices including; a smartphone or tablet like devices, a control panel with control switches.
 11. The modular robotic vehicle of claim 1 in which said control system further comprising: driver interface associated with a semiautonomous system or an autonomous driving system providing navigation processes to commence driving said MRV either manned or unmanned.
 12. The modular robotic vehicle of claim 1 in which said operating mode comprising: a two-wheel steering mode is utilized for the driver preferring to drive the MRV with tradition front wheel steering, wherein right and left robotic drive wheels are engaged to turn in the same direction at the same time, correspondingly up to an approximate 90-degrees or an approximate 270-degrees; a traverse steering mode configured to steer all front and rear robotic drive wheels to the right at a 45-degree angle at the same time to travel diagonally to the right, or configured to steer all front and rear robotic drive wheels to the left at a 315-degree angle at the same time to travel diagonally to the left, respectively; a park mode is configured to steer one said one or more robotic drive wheels to the right at a 90-degree angle or configured to steer one said one or more robotic drive wheels to the left at a 270-degree angle in parallel; an omni-directional mode configured to steer one said one or more robotic drive wheels to the right at an approximant 45-degree angle, and at the same time, steer said one or more robotic drive wheels to the left at an approximant 315-degrees such that, the modular robotic vehicle spins in place, respectively; a vehicle to vehicle docking mode providing an approximate 10-degree steering angle for laterally positioning front positioned robotic drive wheels to steer to slightly the right, and at the same time, accordingly the rear positioned robotic drive wheels are configured with an approximate or opposed 315-degree angle to steer sideways to the left, accordingly the docking process requires several steering angles to successfully self-dock or to line up in parallel with another vehicle, toad, trailer or fifth wheel to couple together, respectively each robotic drive wheel operating provided with varied degrees of axis of rotation (AOR) represented as robotic drive wheel pivot axis (PA), and steering axis (SA) indicated as (X, Y, Z).
 13. The modular robotic vehicle of claim 1 in which said wireless communication system further comprising WIFI providing the internet of thing (IoT), software and software updating, downloading APPs, and accessing associated driver interface protocols; and Bluetooth linking the driver commands to the MRV via preferred smart I/O devices.
 14. The modular robotic vehicle of claim 1 in which said control system further comprising a virtual personal assistant to carry out voice command of a driver, said virtual personal assistant paired with said control system and paired with smart I/O devices, which may include; steering motor, brakes, and other internal devices, and external device like control panels, speakers, and smart cab components.
 15. The modular robotic vehicle of claim 1 in which said vehicle to vehicle system is further configured to: detect a docking maneuver of the modular robotic vehicle; detect a docking maneuver of an additional vehicle; detect maneuvers modular of robotic vehicles working a group; determining at least one of a position at which the plurality of MVRs or other vehicles leaves a cluster, an amount of battery power remaining in the MVRs 100 or other vehicle, a year of the MVRs or other vehicle, a size of the MVRs or other vehicle, a type of the MVRs 100 or other vehicle, or a position of the MVRs or other vehicles within the cluster; transmitting and receiving the driving data between the plurality of MRVs; encrypting the driving data of a leading vehicle with a V2X key; calculating the hash value based on the encrypted travel data and forming the block comprising the encrypted travel data and the hash value; and transmitting the block to the MVRs in a next order according to the routing order; wirelessly transmitting a routing table and driving data to a slave MRV; receives the driving data from the slave MRV; wherein a processor determines a dwell time in a cluster of the MRVs based on the driving data of at least one MRV performs the clustering, and transmits block chain data between the plurality of MRVs according to the dwell time; generating the routing table, forming a blockchain between the plurality of MRVs based on the routing sequence.
 16. A modular robotic vehicle comprising: a modular chassis configured with frame brackets supporting a body (humanoid MRV) and an array of robotic drive wheels which are systematically controlled by a control system of said modular robotic vehicle (MRV); said body further comprising a control panel providing a touch screen display with virtual switches for a user to select settings associating with a keyed identifying security system allowing said user to unlock or lock access to said array of robotic drive wheels and/or to access various autonomous control system components; said control panel is integrated with a user interface, said user interface is associated with smart I/O devices which may include; a smartphone, an iPad, PC, or other smart I/O device providing paired communication; wherein said MRV linking with said user's smartphone provided with Bluetooth pairing such that said user can communicate with said MRV; said control panel is integrated with a user interface associated to select her or his preferred settings to access speakers and microphone, and to activate a virtual personal assistant, respectively said virtual personal assistant for providing user voice command; said user interface and virtual personal assistant associated with autonomous navigation programming, and to update software; said MRV configured with a control system linking battery power to said array of robotic drive wheels and to various subsystem components; said body (humanoid MRV) configured with one or more compartments providing with hatches; said one or more compartments for housing one or more; battery(s), various subsystem components, and payload, wherein said hatches configured for accessing said various subsystem components or said payload.
 17. The modular robotic vehicle of claim 16 in which said body further comprising: a portion configured with or without a head, said head configured with an augmented head comprising computer-generated interactive facial components, or an augmented head with interactive LED lighting components; said augmented head comprising computer-generated interactive facial component being human like or animal like; said augmented head with interactive LED lighting components being futuristic looking; a truck portion configured with one or more robotic arms; said one or more robotic arms configured with robotic hands, grippers, suction devices, or other handling implements; a base portion, said base portion connectively couple with a modular chassis; a disjointed waist, said disjointed waist disposed between said trunk portion and said base portion, said disjointed waist configured to rotate said trunk portion at an approximate angle degree opposed to said base portion, said disjointed waist providing bending in fore and aft directions, providing an approximate one-degree to 359-degree rotational direction, or to spin past zero-degree rotation.
 18. The modular robotic vehicle of claim 16 in which said modular chassis further comprising: a frame configured with a coupling arrangement of fasteners, nuts and bolts for connectively coupling said modular chassis to a base portion of a body of said humanoid MRV; said modular chassis including frame assemblies configured with side sections, corners, or a combination of corners and side sections; one or more robotic drive wheels arranged on said side sections, said corners, or said combination of said corners and said side sections; wherein the frame assemblies including; metal brackets assembled with nut and bolts, an upper portion, a front portion, an end portion, a lower portion, a centralized cavity, frame openings, a right side section and a left side section, an encasement, a first housing, fasteners, an array of wiring with electrical connectors; respectively a battery and charger is disposed within said centralized cavity, and a gyroscope is provided to assist with balance of humanoid MRV; wherein said gyroscope accelerometer set at center mass (CM) and housed also within said centralized cavity, and utilizing one or more of; an IMU, and autonomous driving system cameras and sensors; wherein said one or more robotic drive wheels including; a drive wheel array comprising; a tire, an axle, a hub, a motor which may be an electric motor or a motor configured with planetary gears, sprockets or combinations thereof, an actuated brake, a hanger arm, a housing, a steering controller, a coupling bracket and wiring, wherein said wiring is completely contained and continuously threaded therethrough said hanger arm and said housing to be hidden from view; wherein said hanger arm further comprising a suspension module mounted on the hanger arm with fasteners, or said a suspension module is contained within said hanger arm to be hidden from view; respectively said suspension module is disjointed for said robotic drive wheel to smoothly travel on uneven terrain, respectively; wherein said suspension module may include a spring-damper or an assembly requiring a fuel line which may situate within said hanger arm to access a lower portion of said hanger arm; wherein said hanger arm is connectively coupled onto the frame by an arrangement of fasteners, nuts and bolts; wherein said metal bracket is configured to receive said coupling bracket of drive wheel array, said coupling bracket is connectively attached outwardly such that the hanger arm is able to rotate within said cavity and not bang against the frame; respectively said coupling bracket is connected with nut and bolts such that the robotic drive wheel is detachable for maintenance purposes or replacement.
 19. The modular robotic vehicle of claim 1 and claim 16 in which said drive wheel array further comprising: a steering controller, an electric motor, an actuator, an encoder and an IMU in accordance with driver instructions for separately controlling the rotational direction of a drive wheel; said steering controller and electric motor configured with internal wiring connections; said electric motor providing a driving force generator receiving target values of an output torque upon a rotational speed so that the target values are realized, wherein said driving force generator in a negative direction through regenerative control of said electric motor via control system is to control a charged state of said battery; said steering controller comprising an actuator positioned with respect to the upper portion to locally control the steering function of the robotic drive wheel; said steering controller may provide functional redundancy over all steering functions; said steering controller utilizing encoders and printed circuit board assemblies (PCBAs) associated hardware, which are housed in and covered by a housing assembly; wherein said encoder configured to properly encode a position and rotational speed of a steering actuator as well as to amplify steering torque from such a steering motor through the actuator of a steering controller of the one or more robotic drive wheels.
 20. A modular robotic vehicle comprising: a semiautonomous or an autonomous controlled tractor MRV, and/or a semiautonomous or an autonomous controlled fifth wheel MRV arrangement; said tractor MRV comprising a modular chassis, said modular chassis configured with frame brackets supporting an array of robotic drive wheels which are systematically controlled by a control system, and said fifth wheel MRV comprising a modular chassis, said modular chassis configured with frame brackets supporting an array of robotic drive wheels which are systematically controlled by a control system; said control system of said tractor MRV and said control system of said fifth wheel MRV are wirelessly linked such that both tractor MRV and fifth wheel MVR collaborate to connect to one another, thus becoming a tractor/fifth wheel MRV configured with a wheel drive arrangement; each control system of said tractor MRV and said fifth wheel MRV systematically collaborate to control steering, speed, braking and stability of each robotic drive wheel configured in said a wheel drive arrangement; said tractor MVR being manned or unmanned; each said tractor MRV and said fifth wheel MRV configured with a compartment with hatch for storing one or more consigned payloads; said tractor MRV when manned is configured with a cab and a compartment, said cab providing seating units, a dashboard for housing a control panel comprising a touch screen display switches for power on/off and control lamps, turns signals, respectively the control panel providing a keyed identifying security system for the driver to unlock or lock access to the robotic drive wheels, engage power ON/OFF, control mirrors accordingly and power on/off any head lamps and control other cab amenities; wherein said control panel correspondingly linking with said control system of said fifth wheel MRV; said control panel is integrated with user interface associated with smart I/O devices for accommodating the driver to communicate through user interface; wherein driver's smartphone or iPad provides a Bluetooth pairing link to the various control system components such that driver can communicate with said tractor MRV to select her or his preferred settings, navigation programming, to update software, to access smartphone speakers and microphone link to a virtual personal assistant accordingly for providing driver voice commands; said tractor when unmanned configured with a control system linking battery power to various MRV subsystem components and to a compartment providing one or more hatches; said compartment for housing a payload, said hatched configured for accessing said payload; said one or more consigned payloads are housed within said tractor's container or one or more consigned payloads are housed within said fifth wheel's container; each said tractor MRV and said fifth wheel MRV configured with head lamps, tail lights, turn signal lights, one or more sensor system which may include one or more of the following; cameras, sensors associated with an autonomous driving system, LIDAR, Radar and other related sensor devices; each said tractor MRV and said fifth wheel MRV configured with cameras and sensors utilized for detecting objects and identify the location of each object and identify object materials, the objects being forklifts, humans or robot MRV and/or other robot types loading or unloading said fifth wheel MRV and/or objects in the surrounding environment; said tractor MRV driver utilizing driver interface associated with one or more of the following components and I/O devices: a control panel allowing a driver via said driver interface to select one or more of the following operating modes; a two-wheel steering mode, a traverse steering mode; a park mode; an omni-directional steering mode, and a vehicle to vehicle docking mode; each said tractor MRV and said fifth wheel MRV may utilize one or more the of following control system and subsystem processes: utilizing wireless communication link such as a wireless signal linking to a base station, each providing instructions to engage one or more of said operating modes; each said tractor MRV and said fifth wheel MRV may utilize a remote network or base station provided for controlling the docking said tractor MRV and said fifth wheel MRV, and for controlling a docking process via docking mode process involving said MRV to couple with another MRV or other vehicle types; each said tractor MRV and said fifth wheel MRV configured with a plurality of sensors, processors and servers interconnected via the docking mode to assist in automatically connecting the tractor MRV and the fifth wheel MRV to one another and disconnecting the tractor MRV and the fifth wheel MRV from one another, more particularly each capable of driving independently when separated, and each capable of autonomously hitching to other modular robotic vehicles, or other vehicle types. 